- Tytuł:
- Trajectory tracking and collision avoidance for the formation of two-wheeled mobile robots
- Autorzy:
-
Kowalczyk, W.
Kozłowski, K. - Powiązania:
- https://bibliotekanauki.pl/articles/200897.pdf
- Data publikacji:
- 2019
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
robot formation
nonholonomic robot
stability analysis
Lyapunov-like function
path following
artificial potential function - Opis:
- This paper presents control method for multiple two-wheeled mobile robots moving in formation. Trajectory tracking algorithm from [7] is extended by collision avoidance, and is applied to the different type of formation task: each robot in the formation mimics motion of the virtual leader with a certain displacement. Each robot avoids collisions with other robots and circular shaped, static obstacles existing in the environment. Artificial potential functions are used to generate repulsive component of the control. Stability analysis of the closed-loop system is based on Lyapunov-like function. Effectiveness of the proposed algorithm is illustrated by simulation results.
- Źródło:
-
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 5; 915-924
0239-7528 - Pojawia się w:
- Bulletin of the Polish Academy of Sciences. Technical Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł